2024
  • D. D. Arachchige,  D. M. Perera, U. Huzaifa, I. Kanj, and I. S. Godage, “Tumbling Locomotion of Tetrahedral Soft-Limbed Robots,” in IEEE Robotics and Automation Letters (RAL), 2024 [Accepted].
  • B. H. Meng, D. D. Arachchige, I. Kanj, and I. S. Godage, “Path Planning for Continuum Arms in Dynamic Environments,” in IEEE International Conference on Soft Robotics (RoboSoft), San Diego, USA, 2024 [Accepted].
2023
  • U. Huzaifa, D. D. Arachchige, M. A. Zaman, and U. Syed, “Simplified Modeling of Hybrid Soft Robots with Constant Stiffness Assumption,” in IEEE International Conference on Robotics and Biomimetics (ROBIO), Samui, Thailand, 2023.
  • D. D. Arachchige, D. M. Perera, S. Mallikarachchi, U. Huzaifa, I. Kanj, and I. S. Godage, “Soft Steps: Exploring Quadrupedal Locomotion with Modular Soft Robots,” in IEEE Access, vol. 11, pp. 23022–23040, 2023.
  • D. D. Arachchige, T. Varshney, U. Huzaifa, I. Kanj, T. Nanayakkara, Y. Chen, H. B. Gilbert, and I. S. Godage, “Study on Soft Robotic Pinniped Locomotion,” in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Seattle, USA, 2023, pp. 65–71.
  • D. D. Arachchige, D. M. Perera, S. Mallikarachchi, I. Kanj, Y. Chen, H. B. Gilbert, and I. S. Godage, “Dynamic Modeling and Validation of Soft Robotic Snake Locomotion,” in IEEE International Conference on Control, Automation and Robotics (ICCAR), Beijing, China, 2023, pp. 06–12
  • D. M. Perera, D. D. Arachchige, S.Mallikarachchi, I. Kanj, Y. Chen, and I. S. Godage, “Teleoperation of Soft Modular Robots: Study on Realtime Stability and Gait Control,” in IEEE International Conference on Soft Robotics (RoboSoft), Singapore, 2023, pp. 01–06.
  • D. D. Arachchige, D. M. Perera, S.Mallikarachchi, I. Kanj, Y. Chen, and I. S. Godage, “Wheelless Soft Robotic Snake Locomotion: Study on Sidewinding and Helical Rolling Gaits,” in IEEE International Conference on Soft Robotics (RoboSoft), Singapore, 2023, pp. 01–06.
2022
  • S. Mallikarachchi, C. Dai, O. Seneviratne, and I. Godage, “Managing Collaborative Tasks within Heterogeneous Robotic Swarms using Swarm Contracts,” in IEEE International Conference on Decentralized Applications and Infrastructures (DAPPS), 2022.
  • A. L. Gunderman, S. Sengupta, E. Siampli, D. Sigounas, C. Kellner, C. Oluigbo, K. Sharma, I. Godage, K. Cleary, and Y. Chen. “A Surgical Platform for Intracerebral Hemorrhage Robotic Evacuation (ASPIHRE): A Non-metallic MR-guided Concentric Tube Robot.” arXiv preprint arXiv:2206.09848 (2022).
  • B. H. Meng, I. S. Godage, and I. Kanj. “RRT*-Based Path Planning for Continuum Arms.” IEEE Robotics and Automation Letters 7, no. 3 (2022): 6830-6837.
  • M. J. Musa, A. B. Carpenter, C. Kellner, D. Sigounas, I. S. Godage, S. Sengupta, C. Oluigbo, K. Cleary, and Y. Chen. “Minimally Invasive Intracerebral Hemorrhage Evacuation: A review.” Annals of biomedical engineering (2022): 1-22.
  • M. Azizkhani, I. S. Godage, and Y. Chen, “Dynamic control of soft robotic arm: A simulation study.” IEEE Robotics and Automation Letters 7, no. 2 (2022): 3584-3591.
  • D.D. Arachchige, and I.S. Godage, “Hybrid Soft Robots Incorporating Soft and Stiff Elements.” In IEEE International Conference on Soft Robotics (RoboSoft), pp. 267-272. IEEE, 2022.
2021
  • J. Grey, O. Seneviratne, I. Godage, “Blockchain-Based Mechanism for Robotic Cooperation Through Incentives: Prototype Application in Warehouse Automation,” in IEEE International Conference on Blockchain (Blockchain), 2021, pp. 597-604.
  • A. Amaya, D. D. Arachchige, J. Grey, and I. S. Godage, “Evaluation of Human-Robot Teleoperation Interfaces for Soft Robotic Manipulators, ” in IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 2021, pp. 412-417.
  • D. D. Arachchige, Y. Chen, and I. S. Godage, “Soft Robotic Snake Locomotion: Modeling and Experimental Assessment,” in IEEE International Conference on Automation Science and Engineering (CASE), 2021, pp. 805-810.
  • D. D. Arachchige, Y. Chen, I. D. Walker, and I. S. Godage, “A Novel Variable Stiffness Soft Robotic Gripper,” in IEEE International Conference on Automation Science and Engineering (CASE), 2021, pp. 2222-2227.
  • B. Meng, D. D. Arachchige, J. Deng, I. Kanj, and I. S. Godage, “Anticipatory Path Planning for Continuum Arms in Dynamic Environments,” in IEEE International Conference on Robotics and Automation, 2021, pp. 7815-7820.
  • B. Meng, I. Kanj, and I. S. Godage, “Smooth Path Planning for Continuum Arms,” in IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 7809-7814.
2020
  • Jonathan Greay, Oshani Seneviratne, and Isuru Godage, “Swarm Contracts: Smart Contracts in Robotic Swarms with Varying Agent Behavior,” in IEEE International Conference on Blockchain, 2020, pp. 265-272.
  • Y. Chen, L. Wang, Isuru S. Godage, K. Galloway, N. Simaan, and E. Barth, “Modal-based Kinematics and Contact Detection of Soft Robots,” in Soft Robotics, 2020, pp. 298-309.
  • P. Gonthina, M. B. Wooten, Isuru S. Godage, and I. D. Walker, “Mechanics for Tendon Actuated Multisection Continuum Arms,” in IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 3896-3902.
2019
  • E. Eiben, I. Kanj, Isuru S. Godage, and G. Xia, ” On the Problem of Covering a 3-D Terrain”, in International Conference on Association for the Advancement of Artificial Intelligence (AAAI), 2020 (accepted).
  • Hossein Habibi , Chenghao Yang , Isuru S. Godage, Rongjie Kang, Ian D. Walker , and David T. Branson, “A lumped-mass model for large deformation continuum surfaces actuated by continuum robotic arms,” in the ASME Journal of Mechanisms and Robotics, 2019 (in press).
  • Isuru S. Godage, Robert J. Webster III, and Ian D. Walker, “Center of Gravity-based Approach for Modeling Dynamics of Multisection Continuum Arms,” in IEEE Transactions on Robotics, 2019 (accepted).
  • Richa Sirohi, Yixiao Wang, Samantha Hollenberg, Isuru S. Godage, Ian D. Walker,and Keith E. Green, “Design and Characterization of a Novel, Continuum-Robot Surface for the Human Environment,” in IEEE International Conference on Automation Science and Engineering (CASE), 2019, (accepted).
  • Yue Chen, Joseph Howard,Isuru S. Godage, Saikat Sengupta, “Closed Loop Control of an MR-conditional Robot with Wireless Tracking Coil Feedback,”, in Annals of Biomedical Engineering, 2019, (accepted).
  • Kevin C. Galloway, Yue Chen, Emily Templeton, Brian Rife, Isuru S. Godage, and Eric J. Barth, “Fiber Optic Shape Sensing with a Soft Actuator for State Estimation and Planar Environmental Mapping”, in Soft Robotics, 2019, (accepted).
  • Ali A. Nazari, Diego Castro, and Isuru S. Godage, “Forward and Inverse Kinematics of a Single Section Inextensible Continuum Arm”, in DePaul SCD Symposium, 2019 (accepted).
  • Phanideep S. Gonthina, Apoorva D. Kapadia, Isuru S. Godage, and Ian. D. Walker, “Modeling Variable Curvature Parallel Continuum Robots Using Euler Curves”, in IEEE International Conference on Robotics and Automation (ICRA), 2019 (accepted).
  • Jiahao Deng, Brandon H Meng, Iyad Kanj, and Isuru S Godage, “Near-optimal Smooth Path Planning for Multisection Continuum Arms”, in IEEE Conference on Soft Robotics (RoboSoft), 2019 (accepted). 
  • Estefany A Torres, Kohei Nakajima, and Isuru S Godage, “Information Processing Capability of Soft Continuum Arms”, in IEEE Conference on Soft Robotics (RoboSoft), 2019 (accepted). 
  • Hunter B. Gilbert and Isuru S. Godage, “Validation of an Extensible Rod Model for Soft Continuum Manipulators”, in IEEE Conference on Soft Robotics (RoboSoft), 2019 (accepted). 
  • Habibi, Hossein, Rongjie Kang, Ian D. Walker, Isuru S. Godage, and David T. Branson. “Developing a 3-D, Lumped-Mass Model to Present Behaviour of Large Deformation Surface Based Continuum Robots” in IUTAM Symposium on Intelligent Multibody Systems–Dynamics, Control, Simulation, pp. 133-147. Springer, Cham, 2019.
2018
  • Isuru S. Godage, Yue Chen, Kevin C. Galloway, Emily Templeton, Brian Rife, and Ian D. Walker, “Real-time Dynamic Models for Soft Bending Actuators”, in IEEE International Conference on Robotics and Biomimetics, 2019 (accepted).
  • Yue Chen, Isuru Godage, Hao Su, Hong Yu, Gregory Fischer, “Stereotactic Systems for MR-guided Neurosurgeries: A State-of-the-art Review”, in Annals of Biomedical Engineering, 2019 (in press).
  • Y. Chen, K. C. Galloway, I. S. Godage, “Efficient Reduced-Order Models for Soft Actuators”, Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots workshop, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 (accepted).
  • I. S. Godage, Y. Chen, I. D. Walker, “Dynamic Control of Pneumatic Muscle Actuators”, Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots workshop, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 (accepted).
  • Y. Chen, I. S. Godage, S. Sengupta, “MR-conditional Concentric Tube Robot for Intracerebral Hemorrhage Removal”, Assistive Technologies for Precision Neurosurgery: Current Successes and Future Challenges workshop in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 (accepted).
  • Y. Chen, I. S. Godage, S. Sengupta, C. L. Liu, K. D. Weaver, E. J. Barth, “MR-conditional Concentric Tube Robot for Intracerebral Hemorrhage Removal”, in International Journal of Computer Assisted Radiology and Surgery, 2018 (in print).
  •  H. Habibi, C. Yang, R. Kang, I. D. Walker, Isuru S. Godage & D. T. Branson III, “Modeling an actuated large deformation soft continuum robot surface undergoing external forces using a lumped-mass approach”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, (accepted).

2017

  • Y. Chen, Isuru S. Godage, Z. T. H Tse, R. J. Webster III, and E. J. Barth. “Characterization and Control of a Pneumatic Motor for MR-conditional Robotic Applications” IEEE/ASME Transactions on Mechatronics (TMECH), PP(99), 2017, pp. 1-10.

  • Y. Chen, M. E. Poorman, D. B. Comber, E. B. Pitt, C. Liu, Isuru S. Godage, H. Yu, W. A. Grissom, E. J. Barth, and R. J. Webster III, “Treating Epilepsy via Thermal Ablation: Initial Experiments with an MRI-Guided Concentric Tube Robot”, in Design of Medical Devices (DMD) Conference, 2017, pp. V001T02A002.

  • Y. Chen, Isuru S. Godage, S. Sengupta, C. Liu, K. D. Weaver, E. J. Barth, R. J. Webster III, “An MRI-compatible Robot Steerable Needle for Intracerebral Hemorrhage Removal”, in Journal of Medical Devices (JMD), 2017, V001T08A019. Won 3rd place in the three in five competition.

  • L. Fichera, N. P. Dillon, D. Zhang, Isuru. S. Godage, M. A. Siebold, B. Hartley, J. Noble, P. T. Russell, R. F. Labadie, R. J. Webster III, “Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See into the Middle Ear”, in IEEE Robotics and Automation Letters (RAL), 2(3), 2017, pp. 1488-1494.

  • Saramati Narasimhan, Jared A. Weis, Isuru S. Godage, Robert J. Webster III, Kyle D. Weaver, Michael I. Miga, “Development of a Mechanics-Based Model of Brain Deformations during Intracerebral Hemorrhage Evacuation”, in SPIE International Conference on Medical Imaging, 2017, pp. 101350F-101305F.

2016.

  • Patrick Hall, Isuru S. Godage, “Development of the COBRA Module used to Explore Locomotion in Modular Robots”, in IEEE International Conference on Automation Science and Engineering (CASE), 2016.

  • Jessie L. C. Santiago, Isuru S. Godage, Phanideep Gonthina, Ian D. Walker, “Soft Robots and Kangaroo Tails: Modulating Compliance in Continuum Structures via Mechanical Layer Jamming”, in Soft Robotics (SoRo), 3(2), 2016.

  • Rongjie Kang, Emanuele Guglielmino, Letizia Zullo, David T. Branson III, Isuru S. Godage, and Darwin G. Caldwell, “Embodiment Design of Soft Continuum Robots”, in Advances in Mechanical Engineering (AIM), 8(4), 2016, pp. 1687814016643302.

  • Josephine Granna, Isuru S. Godage, Raul Wirz Gonzalez, Kyle D. Weaver, Robert James Webster III, Jessica Burgner-Kahrs, “A 3D Volume Coverage Path Planning Algorithm with Application to Intracerebral Hemorrhage Evacuation”, in IEEE Robotics and Automation Letters (RAL), 1(2), 2016, pp. 876-883.

  • Yifan Zhu, Phil J. Swaney, Isuru S. Godage, Ray A. Lathrop, and Robert J. Webster III, “A Disposable Robot for Intracerebral Hemorrhage Removal”, in Journal of Medical Devices(JMD) 10(2) 2016, pp. 020952.

2015

  • Raul  Wirz, Isuru S. Godage, Ray A. Lathrop, M. Clavenna, Robert J. Webster III, Paul T. Russell, “Improving Reliability in Stereotactic Imaging for Endonasal Surgery with use of Granular Jamming”, in American Rhinologic Society Spring Meeting, 2015 [poster].

  • Isuru S. Godage, Andria A. Remirez, Kyle D. Weaver, Michael Miga, and Robert J. Webster III, “First ever in-scanner results for robotic ICH removal”, in the 4th  Vise Symposium, Vanderbilt University, 2015 [poster].

  • Isuru S. Godage, Raul Wirz, Ian D. Walker, and Robert J. Webster III, “Efficient spatial dynamics for continuum arms”, in ASME Dynamic Systems and Control Conference (DSCC), 2015, pp. 1-8.

  • Isuru S. Godage, Andria Ramirez, Raul Wirz, Kyle Weaver, Jessica Burgner-Kahrs, and Robert J. Webster III, “Robotic Intracerebral Hemorrhage Evacuation: An In-Scanner Approach with Concentric Tube Robots”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, 1447-1452.

  • Isuru S. Godage, Gustavo A. Medrano-Cerda, David T. Branson, Emanuele Guglielmino, and Darwin G. Caldwell, “Dynamics for Variable Length Multisection Continuum Arms”, in International Journal of Robotics Research (IJRR), 2015, pp. 1-28.

  • Isuru S. Godage, Raul Wirz, Ian D. Walker, and Robert J. Webster, “Accurate and Efficient Dynamics for Variable Length Continuum Arms: A Center of Gravity Approach”, Soft Robotics (SoRo), 2015, pp. 96-106.

  • Manas M. Tonapi, Isuru S. Godage, and Ian D. Walker, “A Novel Continuum Robotic Cable Aimed at Applications in Space”, in Continuum Manipulators Special Issue of Advanced Robotics (AR), 2015, pp. 861-875.

  • Jessie Santhiago, Ian D. Walker, and Isuru S. Godage, “Continuum robots for space applications based on layer-jamming scales with stiffening capability”, in  IEEE Aerospace Conference (IAC), 2015, pp. 1-13.

  • Isuru S. Godage and Ian D. Walker, “Dual Quaternion Based Modal Kinematics for Multisection Continuum Arms”, in  IEEE International Conference on Robotics and Automation (ICRA) 2015, pp. 1416-1422.

  • Manas M. Tonapi, Isuru S. Godage, and Ian D. Walker, “Spatial Kinematic Modeling of a Long and Thin Continuum Robotic Cable”, in  IEEE International Conference on Robotics and Automation (ICRA) 2015, pp. 3755-3761.

  • Raul Wirz, Ray A. Lathrop, Isuru S. Godage, Jessica Burgner-Kahrs, Paul T. Russell, III, and Robert J. Webster, III, “Can Coffee Improve Image Guidance?”, in SPIE Medical Imaging, 2015,pp. 941513-1-12.

  • Isuru S. Godage, Gustavo A. Medrano-Cerda, David T. Branson, Emanuele Guglielmino, Darwin G. Caldwell, “Modal kinematics for multisection continuum arms”, in the Journal of Bioinspiration & Biomimetics (B&B), 2015,pp. 10 (2015) 03500201-20.

2014

  • Isuru S. Godage, Yue Wang, and Ian. D. Walker, “Energy Based Control of Compass Gait Soft Limbed Bipeds”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014, pp. 4057-4064.

  • Manas M. Tonapi, Isuru. S. Godage, and Ian D. Walker, “Design, Modeling and Performance Evaluation of a Long and Slim Continuum Robotic Cable”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014, pp. 2852-2859.

  • Manas Tanapi, Isuru S. Godage, Ian D. Walker (2014). Next Generation Rope-like Robot for In-Space Inspection, 2014, pp. 1-13. In IEEE Aerospace Conference (IAC).

2013

  • Emanuele Guglielmino, Isuru S. Godage, Letizia Zullo, Darwin G. Caldwell (2013). A Pragmatic Bio-inspired Approach to the Design of Octopus-inspired Arms, 4577-4582. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

  • Tianjiang Zheng, Isuru S Godage, David T Branson et al. (2013) Octopus inspired walking robot: Design, control and experimental validation, 816-821. In IEEE International Conference on Robotics and Automation (ICRA).

  • Isuru S. Godage (2013). Modelling and Experimentation of Continuum Arms for Manipulation and Locomotion, PhD Thesis.

2012

  • Tianjiang Zheng, David T Branson, Isuru S Godage et al. Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments, 021004-1-11. in IEEE/ASME Journal of Mechanisms and Robotics (JMR).

  • Isuru S Godage, Thrishantha Nanayakkara, Darwin G Caldwell (2012) Locomotion with Continuum Limbs, 293-298. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

  • Isuru S Godage, David T Branson, Emanuele Guglielmino et al. (2012) Path Planning for Multisection Continuum Arms, 1208-1213. In IEEE International Conference on Mechatronics and Automation (ICMA).

  • Tianjiang Zheng, David T Branson Iii, Rongjie Kang et al. (2012) Dynamic Continuum arm Model for Use with Underwater Robotic Manipulators Inspired by, 5289-5294. In IEEE International Conference on Robotics and Automation (ICRA).

  • Isuru S Godage, David T Branson, Emanuele Guglielmino et al. (2012) Pneumatic Muscle Actuated Continuum Arms : Modeling and Experimental Assessment, 4980-4985. In IEEE International Conference on Robotics and Automation (ICRA).

2011

  • Isuru S Godage, David T. Branson, Emanuele Guglielmino et al. (2011) Dynamics for Biomimetic Continuum Arms: A Modal Approach, 104-109. In IEEE International Conference on Robotics and Biomimetics (ROBIO).

  • Isuru S Godage, Emanuele Guglielmino, David T Branson et al. (2011) Novel Modal Approach for Kinematics of Multisection Continuum Arms, 1093-1098. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

  • Isuru S Godage, David T Branson, Emanuele Guglielmino et al. (2011) Shape Function-Based Kinematics and Dynamics for Variable Length Continuum Robotic Arms, 452-457. In IEEE International Conference on Robotics and Automation (ICRA).

2009

  • S. Nomura, J. T. K. Soon, H. A. Samani, Isuru S. Godage, M. R. Narangoda, A. D. Cheok, and O. Katai, Feasibility of Social Interfaces based on Tactile Senses for Caring Communication, in The 8th International Workshop on Social Intelligence Design (IDC), Vol. 68, No. 3, 2009.

  • A. D. Cheok,Isuru S. Godage, H. A. Samani, “Intimate Physical Interaction with Robots , Human – Robot Kiss”, in International conference on Human-robot personal relationship (HRPR), 2009.

2008

  • H. A. Samani, A. D. Cheok, Isuru S. Godage, “LOVOTICS : Adding Love to Human-Robot Relationships”, in International Conference on Advances in Computer Entertainment Technology (ACE), 2008.